CN117040338B - Permanent magnet synchronous motor control method, system, device, equipment and storage medium - Google Patents

Permanent magnet synchronous motor control method, system, device, equipment and storage medium Download PDF

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Publication number
CN117040338B
CN117040338B CN202311297422.5A CN202311297422A CN117040338B CN 117040338 B CN117040338 B CN 117040338B CN 202311297422 A CN202311297422 A CN 202311297422A CN 117040338 B CN117040338 B CN 117040338B
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stator
disturbance
axis
state equation
value
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CN117040338A (en
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孟庆辉
任彬
付冰雪
逯超
张瑞雪
王汉瑞
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Weichai Power Co Ltd
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Weichai Power Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The application discloses a permanent magnet synchronous motor control method, a system, a device, equipment and a storage medium, wherein the scheme utilizes a pre-configured aperiodic disturbance observer to observe aperiodic disturbance caused by motor parameter change and the like, and obtains a current aperiodic disturbance value; observing periodic harmonic disturbance caused by flux linkage saturation, inverter dead time and the like by using a preconfigured periodic disturbance observer to obtain a current periodic disturbance value; on the basis of the above, when the control quantity to be applied currently is determined, the aperiodic disturbance and the periodic disturbance of the permanent magnet synchronous motor are restrained, the disturbance of disturbance factors to the control process of the permanent magnet synchronous motor is reduced, and the control quantity with stronger working condition adaptability is determined; therefore, the permanent magnet synchronous motor is controlled according to the control quantity, and the high-precision permanent magnet synchronous motor control task can be realized.

Description

Permanent magnet synchronous motor control method, system, device, equipment and storage medium
Technical Field
The present disclosure relates to the field of permanent magnet synchronous motors, and more particularly, to a method, a system, a device, equipment, and a storage medium for controlling a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor is widely applied to the fields of new energy automobiles, household appliances and the like because of the advantages of simple and compact structure, high power density and the like. Currently, control of the stator straight shaft is commonly employed(i.e. statorShaft) voltage and stator cross-shaft (i.e. statorShaft) voltage to realize the current loop control task of the permanent magnet synchronous motor.
In addition, the motor parameters of the permanent magnet synchronous motor can also change along with the change of the motor operation working conditions. That is, there are disturbances caused by various factors in the operation process of the permanent magnet synchronous motor, so that the control difficulty of the permanent magnet synchronous motor is high, and accurate control of the permanent magnet synchronous motor is difficult to realize.
Disclosure of Invention
In view of the foregoing, the present application has been made in order to provide a method, a system, an apparatus, a device, and a storage medium for controlling a permanent magnet synchronous motor, so as to achieve a high-precision task of controlling the permanent magnet synchronous motor.
The specific scheme is as follows:
in a first aspect, a permanent magnet synchronous motor control method is provided, and the method includes:
Observing and obtaining an aperiodic disturbance value of the stator straight shaft by using a preconfigured aperiodic disturbance observer of the stator straight shaft; observing and obtaining an aperiodic disturbance value of the stator quadrature by using an aperiodic disturbance observer of the preconfigured stator quadrature; the mathematical model of the aperiodic disturbance observer is configured according to the expanded target state equation and does not contain periodic disturbance items; the expanded target state equation is obtained by expanding an original target state equation, and the expansion adopts an expansion mode taking an aperiodic disturbance term as an expansion state variable; the original target state equation is processed by an ideal state equation of the stator orthogonal axis current of the permanent magnet synchronous motor; the state transition matrix and the control input matrix of the original target state equation are main diagonal matrixes determined by parameter values, the original target state equation comprises a disturbance matrix formed by disturbance items of a stator straight axis and disturbance items of a stator intersecting axis, the disturbance items comprise non-periodic disturbance items and periodic disturbance items, the non-periodic disturbance items linearly change along with time, and the change rate of the non-periodic disturbance items is smaller than a preset change rate threshold; the model parameters of the aperiodic disturbance observer are determined according to preset rules, and the preset rules are as follows: the aperiodic disturbance estimated value obtained by the observation of the aperiodic disturbance observer converges to the aperiodic disturbance actual value;
Based on the aperiodic disturbance value of the stator straight shaft, a periodic disturbance observer of the preconfigured stator straight shaft is utilized to observe and obtain the periodic disturbance value of the stator straight shaft; based on the aperiodic disturbance value of the stator quadrature axis, a periodic disturbance observer of the preconfigured stator quadrature axis is utilized to observe and obtain the periodic disturbance value of the stator quadrature axis; wherein the periodic disturbance observer is configured according to the original target state equation and a complex coefficient filter CCF, and comprises a non-periodic disturbance term;
invoking a controller model configured by the original target state equation, and calculating a control quantity corresponding to a preset control target, wherein the preset control target comprises: in the next sampling period, the stator straight axis current value reaches a preset stator straight axis target current value, and the stator quadrature axis current value reaches a preset stator quadrature axis target current value; the control amount includes: the voltage value of the stator straight axis and the voltage value of the stator quadrature axis;
and controlling the permanent magnet synchronous motor according to the control quantity.
In a second aspect, there is provided a permanent magnet synchronous motor control system comprising: the system comprises a first disturbance observer, a second disturbance observer, a current prediction controller and the permanent magnet synchronous motor connected with the current prediction controller;
The first disturbance observer includes: a pre-configured stator straight axis aperiodic disturbance observer, and a pre-configured stator quadrature axis aperiodic disturbance observer; the mathematical model of the aperiodic disturbance observer is configured according to the expanded target state equation and does not contain periodic disturbance items; the expanded target state equation is obtained by expanding an original target state equation, and the expansion adopts an expansion mode taking an aperiodic disturbance term as an expansion state variable; the original target state equation is processed by an ideal state equation of the stator orthogonal axis current of the permanent magnet synchronous motor; the state transition matrix and the control input matrix of the original target state equation are main diagonal matrixes determined by parameter values, the original target state equation comprises a disturbance matrix formed by disturbance items of a stator straight axis and disturbance items of a stator intersecting axis, the disturbance items comprise non-periodic disturbance items and periodic disturbance items, the non-periodic disturbance items linearly change along with time, and the change rate of the non-periodic disturbance items is smaller than a preset change rate threshold; the model parameters of the aperiodic disturbance observer are determined according to preset rules, and the preset rules are as follows: the aperiodic disturbance estimated value obtained by the observation of the aperiodic disturbance observer converges to the aperiodic disturbance actual value;
The aperiodic disturbance observer of the stator straight shaft is used for observing an aperiodic disturbance value of the stator straight shaft of the permanent magnet synchronous motor;
the aperiodic disturbance observer of the stator cross shaft is used for observing an aperiodic disturbance value of the stator cross shaft of the permanent magnet synchronous motor;
the second disturbance observer includes: a preconfigured periodic disturbance observer of a stator straight shaft and a preconfigured periodic disturbance observer of a stator quadrature shaft; wherein the periodic disturbance observer is configured according to the original target state equation and a complex coefficient filter CCF, and comprises a non-periodic disturbance term;
the periodic disturbance observer of the stator straight shaft is connected with the output end of the aperiodic disturbance observer of the stator straight shaft, and the periodic disturbance observer of the stator straight shaft is used for: based on the aperiodic disturbance value of the stator straight shaft, observing the periodic disturbance value of the stator straight shaft of the permanent magnet synchronous motor;
the periodic disturbance observer of the stator quadrature is connected with the output end of the aperiodic disturbance observer of the stator quadrature, and the periodic disturbance observer of the stator quadrature is used for: based on the aperiodic disturbance value of the stator quadrature axis, observing the periodic disturbance value of the stator quadrature axis of the permanent magnet synchronous motor;
The current prediction controller is connected with the output end of the non-periodic disturbance observer of the stator straight shaft, the output end of the non-periodic disturbance observer of the stator intersecting shaft, the output end of the periodic disturbance observer of the stator straight shaft and the output end of the periodic disturbance observer of the stator intersecting shaft, and is used for calling a controller model configured by the original target state equation, calculating a control quantity corresponding to a preset control target, and controlling the permanent magnet synchronous motor according to the control quantity; the preset control targets include: in the next sampling period, the stator straight axis current value reaches a preset stator straight axis target current value, and the stator quadrature axis current value reaches a preset stator quadrature axis target current value; the control amount includes: the voltage value of the stator straight axis and the voltage value of the stator intersecting axis.
In a third aspect, there is provided a permanent magnet synchronous motor control device, the device comprising:
the aperiodic disturbance value determining unit is used for observing and obtaining an aperiodic disturbance value of the stator straight shaft by using a preconfigured aperiodic disturbance observer of the stator straight shaft; observing and obtaining an aperiodic disturbance value of the stator quadrature by using an aperiodic disturbance observer of the preconfigured stator quadrature; the mathematical model of the aperiodic disturbance observer is configured according to the expanded target state equation and does not contain periodic disturbance items; the expanded target state equation is obtained by expanding an original target state equation, and the expansion adopts an expansion mode taking an aperiodic disturbance term as an expansion state variable; the original target state equation is processed by an ideal state equation of the stator orthogonal axis current of the permanent magnet synchronous motor; the state transition matrix and the control input matrix of the original target state equation are main diagonal matrixes determined by parameter values, the original target state equation comprises a disturbance matrix formed by disturbance items of a stator straight axis and disturbance items of a stator intersecting axis, the disturbance items comprise non-periodic disturbance items and periodic disturbance items, the non-periodic disturbance items linearly change along with time, and the change rate of the non-periodic disturbance items is smaller than a preset change rate threshold; the model parameters of the aperiodic disturbance observer are determined according to preset rules, and the preset rules are as follows: the aperiodic disturbance estimated value obtained by the observation of the aperiodic disturbance observer converges to the aperiodic disturbance actual value;
The periodic disturbance value determining unit is used for observing and obtaining the periodic disturbance value of the stator straight shaft by using a pre-configured periodic disturbance observer of the stator straight shaft on the basis of the non-periodic disturbance value of the stator straight shaft; based on the aperiodic disturbance value of the stator quadrature axis, a periodic disturbance observer of the preconfigured stator quadrature axis is utilized to observe and obtain the periodic disturbance value of the stator quadrature axis; wherein the periodic disturbance observer is configured according to the original target state equation and a complex coefficient filter CCF, and comprises a non-periodic disturbance term;
the control quantity determining unit is used for calling a controller model configured by the original target state equation and calculating a control quantity corresponding to a preset control target, wherein the preset control target comprises: in the next sampling period, the stator straight axis current value reaches a preset stator straight axis target current value, and the stator quadrature axis current value reaches a preset stator quadrature axis target current value; the control amount includes: the voltage value of the stator straight axis and the voltage value of the stator quadrature axis;
and the motor control unit is used for controlling the permanent magnet synchronous motor according to the control quantity.
In a fourth aspect, there is provided a permanent magnet synchronous motor control apparatus including: a memory and a processor;
the memory is used for storing programs;
the processor is used for executing the program to realize each step of the permanent magnet synchronous motor control method.
In a fifth aspect, a storage medium is provided, on which a computer program is stored, which, when being executed by a processor, implements the steps of the permanent magnet synchronous motor control method described above.
By means of the technical scheme, the aperiodic disturbance value of the stator straight axis and the stator quadrature axis at the current moment is obtained by observing aperiodic disturbance caused by motor parameter change and the like through the preconfigured aperiodic disturbance observer; observing periodic harmonic disturbance caused by dead time and the like of a flux linkage saturation inverter by a preconfigured periodic disturbance observer to obtain periodic disturbance values of a stator straight axis and a stator quadrature axis at the current moment; on the basis of the above, the scheme can inhibit the aperiodic disturbance and the periodic disturbance of the permanent magnet synchronous motor at the same time when determining the control quantity (namely the stator straight axis voltage and the stator quadrature axis voltage) to be applied at the current moment, so that the disturbance of disturbance factors to the control process of the permanent magnet synchronous motor is reduced to a certain extent, and the control quantity with stronger working condition adaptability is determined; and controlling the permanent magnet synchronous motor according to the control quantity, and finally realizing the high-precision permanent magnet synchronous motor control task.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
fig. 1 is a schematic flow chart of a permanent magnet synchronous motor control method according to an embodiment of the present application;
fig. 2 illustrates a stator of a permanent magnet synchronous motorA control logic schematic of a negative feedback control system of the shaft;
fig. 3 is a schematic structural diagram of a permanent magnet synchronous motor control device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a permanent magnet synchronous motor control device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a permanent magnet synchronous motor control system according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The applicant finds that an ideal state equation of stator orthogonal axis current of a permanent magnet synchronous motor is a motor model established on the basis of the following assumption, and specifically comprises the following steps: the motor current is standard three-phase sinusoidal current, the core saturation phenomenon of the permanent magnet synchronous motor is ignored, and factors such as eddy current and hysteresis loss are not considered. Therefore, the ideal state equation is difficult to characterize the actual operation condition of the permanent magnet synchronous motor.
In order to simulate the actual behavior of the permanent magnet synchronous motor, the ideal state equation is processed by the scheme, and the original target state equation of the stator orthogonal axis current is obtained. The original target state equation takes the stator straight axis current and the stator quadrature axis current as state variables, takes the stator straight axis voltage and the stator quadrature axis voltage as input vectors, and has the following characteristics:
feature 1: the state transition matrix of the original target state equationAnd control input matrixAll are the main diagonal matrices determined by the parameter values.
In the form ofCan be expressed asThe state transition matrix, called the state equation, can be used toThe control input matrix, called the state equation, can be used to A disturbance matrix called the state equation.
Feature 2: the original target state equation comprises a disturbance matrix formed by disturbance terms of a stator straight axis and disturbance terms of a stator quadrature axis, wherein the disturbance terms comprise aperiodic disturbance terms and periodic disturbance terms, the aperiodic disturbance terms linearly change along with time, and the change rate of the aperiodic disturbance terms is smaller than a preset change rate threshold.
Wherein the aperiodic disturbance term is related to motor speed fluctuation by motor parameter variationA disturbance term caused by factors such as an axis coupling term and the like; the periodic disturbance term is a periodic harmonic disturbance term caused by factors such as flux linkage saturation, inverter dead time and the like; and the aperiodic disturbance term and the periodic disturbance term form the total disturbance term of the permanent magnet synchronous motor. It should be noted that, for any axis of the stator straight axis and the stator quadrature axis, the original target state equation of the axis only includes the parameter of the axis, and does not include the parameter of the other axis, and based on this, the permanent magnet synchronous motor control scheme provided in the embodiment of the present application may be divided into: a stator direct axis control scheme and a stator quadrature axis control scheme which are decoupled from each other.
The original target state equation considers the periodic disturbance and the aperiodic disturbance of the permanent magnet synchronous motor, so that the actual running condition of the permanent magnet synchronous motor can be represented to a certain extent. On the basis of the original target state equation, the permanent magnet synchronous motor control scheme is provided, can be suitable for realizing control of the permanent magnet synchronous motor, and improves control accuracy.
Fig. 1 is a schematic flow chart of a permanent magnet synchronous motor control method according to an embodiment of the present application, and in combination with the method shown in fig. 1, the method may include the following steps:
and S101, respectively acquiring an aperiodic disturbance value of a stator straight axis and an aperiodic disturbance value of a stator quadrature axis.
The step S101 may specifically include: observing and obtaining an aperiodic disturbance value of the stator straight shaft by using a preconfigured aperiodic disturbance observer of the stator straight shaft; and observing to obtain the aperiodic disturbance value of the stator quadrature by using a pre-configured aperiodic disturbance observer of the stator quadrature.
The mathematical model of the aperiodic disturbance observer is configured according to the expanded target state equation and does not contain periodic disturbance items; the expanded target state equation is obtained by expanding the original target state equation, and the expansion adopts an expansion mode taking an aperiodic disturbance term as an expansion state variable, that is, the expanded target state equation takes stator current and aperiodic disturbance as state variables. The model parameters of the aperiodic disturbance observer are determined according to preset rules, and the preset rules are as follows: the aperiodic disturbance estimated value obtained by the aperiodic disturbance observer converges to the aperiodic disturbance actual value, and based on the aperiodic disturbance estimated value, the current aperiodic disturbance value can be accurately observed by the aperiodic disturbance observed according to the preset rule configuration, and the observation task of the aperiodic disturbance is realized.
Step S102, respectively obtaining a periodic disturbance value of a stator straight axis and a periodic disturbance value of a stator quadrature axis.
The step S102 may specifically include: based on the aperiodic disturbance value of the stator straight shaft, a periodic disturbance observer of the preconfigured stator straight shaft is utilized to observe and obtain the periodic disturbance value of the stator straight shaft; and on the basis of the aperiodic disturbance value of the stator quadrature axis, observing and obtaining the periodic disturbance value of the stator quadrature axis by using a preconfigured periodic disturbance observer of the stator quadrature axis.
Wherein the periodic disturbance observer is configured in accordance with the original target state equation and a complex coefficient filter CCF (Complex Coefficient Filter, CCF) and contains non-periodic disturbance terms. That is, for either one of the stator straight axis and the stator quadrature axis, the non-periodic disturbance observer of the axis is cascaded with the periodic disturbance observer of the axis, and the periodic disturbance value of the axis is observed on the basis of the non-periodic disturbance value of the axis. Therefore, by means of the aperiodic disturbance observer, the bandwidth requirement on the periodic disturbance observer can be reduced to a certain extent.
And step S103, calling a controller model configured by the original target state equation, and calculating a control quantity corresponding to a preset control target.
Alternatively, based on the original target state equation, according to the dead beat prediction control concept, the stator straight axis current value after one sampling period is set as a preset stator straight axis target current value, the stator quadrature axis current value after one sampling period is set as a preset stator quadrature axis target current value, and finally the controller model is configured. The preset control target may include: in the next sampling period, the stator straight axis current value reaches a preset stator straight axis target current value, and the stator quadrature axis current value reaches a preset stator quadrature axis target current value; the control amount includes: the voltage value of the stator straight axis and the voltage value of the stator intersecting axis.
The controller model is configured based on the original target state equation, so that aperiodic disturbance and periodic disturbance of the permanent magnet synchronous motor can be restrained at the same time when the control quantity is determined by the controller model, interference of an aperiodic disturbance value and a periodic disturbance value to a control process is reduced, and the control quantity which is more adaptive to the running working condition of the motor is determined.
And step S104, controlling the permanent magnet synchronous motor according to the control quantity.
According to the control method, the aperiodic disturbance of the permanent magnet synchronous motor is observed by the aid of the pre-configured aperiodic disturbance observer, so that aperiodic disturbance values of the stator straight axis and the stator quadrature axis at the current moment are obtained; observing periodic harmonic disturbance of the permanent magnet synchronous motor by a preconfigured periodic disturbance observer to obtain periodic disturbance values of a stator straight shaft and a stator quadrature shaft at the current moment; the real-time estimation task of periodic disturbance and aperiodic disturbance is realized. Based on the method, when the control quantity (namely the stator straight axis voltage and the stator quadrature axis voltage) to be applied at the current moment is determined, the aperiodic disturbance and the periodic disturbance of the permanent magnet synchronous motor can be restrained at the same time, so that the disturbance of disturbance factors to the control process of the permanent magnet synchronous motor is reduced to a certain extent, the controlled permanent magnet synchronous motor approaches to a non-disturbance system, and finally the control quantity with stronger working condition adaptability is determined. Therefore, the permanent magnet synchronous motor is controlled according to the control quantity, and the high-precision permanent magnet synchronous motor control task can be realized.
In some embodiments provided herein, the ideal state equation may be expressed as:
Wherein the parameters areRepresenting the stator direct current, parameter +.>Representing state variables +.>First derivative of (2), parameter>Representing stator quadrature current, parameter->Representing state variables/>First derivative of (2), parameter>Representing stator resistance, parameter->Represents the stator direct axis inductance, parameter->Represents the angular velocity of the rotor magnetic chain, parameter +.>Representing stator quadrature axis inductance, parameter->Represents the stator direct axis voltage, parameter +.>Representing stator quadrature voltage, parameter->Representing the rotor permanent magnet flux linkage.
In the ideal state equation, motor parameters such as stator resistance, stator direct axis inductance, stator quadrature axis inductance and the like are all time variables which change along with motor operation conditions; in addition, for either of the stator straight axis and the stator quadrature axis, the ideal state equation of the axis contains the coupling term of the stator straight axis, and the ideal state equation of the stator straight axis containsAn item. On the basis of the above, the original target state equation can be obtained through the following steps:
step A, decoupling the ideal state equation to obtain a first intermediate state equation, wherein a disturbance matrix of the first intermediate state equation comprises a coupling term of a stator straight axis and a stator quadrature axis, and the first intermediate state equation is as follows:
Wherein,a state transition matrix representing the first intermediate state equation,a control input matrix representing the first intermediate state equation,a perturbation matrix representing the first intermediate state equation.
Through the processing of the step A, for any axis of the stator straight axis and the stator quadrature axis, the ideal state equation of the axis does not contain the coupling term related to the other axis any more, so that the influence of the coupling term of the stator straight axis on the control process is reduced.
It should be noted that the motor parameters (i.e., the stator resistance, the stator direct axis inductance, and the stator quadrature axis inductance) of the permanent magnet synchronous motor may change with the change of the motor operation condition, that is, the state transition matrix and the control input matrix of the first intermediate state equation each include a time variable.
And B, processing the first intermediate state equation according to a preset processing rule to obtain a second intermediate state equation.
Wherein, the processing rule is: for each element in the state transition matrix of the first intermediate state equation and in the control input matrix of the first intermediate state equation, representing the element as a sum of a fixed amount and a time variable, the fixed amount being determined by a nominal value of a motor parameter of the permanent magnet synchronous motor; respectively configuring a state transition matrix of the second intermediate state equation and a control input matrix of the second intermediate state equation according to each fixed quantity; disturbance matrix according to the first intermediate state equation And each term containing the time variable, configuring a disturbance matrix of the second intermediate state equation. Exemplary, can cause、、Andwherein, the method comprises the steps of, wherein,are all time variables, and the first intermediate state equation is expressed as:
on the basis of the above, the second intermediate state equation may be expressed as:
wherein the parameters areRepresenting nominal resistance value, parameter of statorNominal inductance value, parameter representing stator straight axisNominal inductance value, parameter representing stator quadrature axisNon-periodic disturbance term representing stator straight axis, parameterRepresenting stator crossAperiodic perturbation term of the shaft.
It should be noted that, the non-periodic disturbance term of the stator straight axis includes: disturbance terms (i.e.) And, a coupling term related to the stator quadrature axis (i.e) The dimensions of the exemplary,the method comprises the steps of carrying out a first treatment on the surface of the The aperiodic disturbance term of the stator quadrature axis comprises: disturbance terms (i.e.) And, a coupling term associated with the stator straight axis (i.e.) The dimensions of the exemplary,。
and C, adding a periodic disturbance term caused by periodic harmonic disturbance on the basis of the second intermediate state equation to obtain the original target state equation, wherein the original target state equation can be expressed as:
Wherein the parameters arePeriodic disturbance term representing stator straight axis, parameterRepresenting periodic disturbance terms of stator quadrature axes.
For any axis of the stator straight axis and the stator intersecting axis, in the original target state equation of the axis, the aperiodic disturbance value and the periodic disturbance value of the axis are unknown, and the aperiodic disturbance observer and the periodic disturbance observer of the axis can be respectively designed based on the original target state equation of the axis, so as to observe and estimate the aperiodic disturbance value and the periodic disturbance value of the axis.
The aperiodic disturbance observer and the periodic disturbance observer are described in order below.
In some embodiments provided herein, for any one of the stator straight axis and the stator quadrature axis, the configuration process of the aperiodic disturbance observer may include the steps of:
and D, taking the aperiodic disturbance term as an expansion state variable, expanding the original target state equation, configuring the periodic disturbance term as 0, and obtaining the expanded target state equation, wherein the expanded state equation can be expressed as:
wherein, ，，，，Being a constant less than the rate of change threshold,，representing state variablesIs the first derivative of (a); in the target state equation of the stator straight shaft after the expansion, parameters are as followsThe method comprises the steps of carrying out a first treatment on the surface of the In the target state equation after the expansion of the stator quadrature axis, parameters。
And E, configuring the aperiodic disturbance observer according to the state equation after expansion, wherein a mathematical model of the aperiodic disturbance observer can be expressed as follows:
wherein,，，based on preset statorsA voltage value determined by the shaft target current value,，，、、andfor model parameters of the aperiodic disturbance observer,representation ofIs used as a first derivative of (a),representation ofIs used as a first derivative of (a),representation ofIs the first derivative of (a); in the aperiodic disturbance observer of the stator straight shaft, parametersThe method comprises the steps of carrying out a first treatment on the surface of the In the aperiodic disturbance observer of the stator quadrature axis, parameters。
Specifically, according to a preset statorShaft target current valueDetermining a voltage valueThe process of (1) may include:
first step, stator of permanent magnet synchronous motor based on the structure shown in figure 2Control logic diagram of negative feedback control system of shaftStator is configuredA negative feedback control system for a shaft, the system comprising: statorPI controller and stator of shaftTransfer function of the shaft.
The statorThe configuration process of the transfer function of the shaft may include:
will beAndstator brought into the expanded target state equationEquation of state of shaft to obtain statorA time domain model of shaft current can be expressed as:the method comprises the steps of carrying out a first treatment on the surface of the For the statorLaplacian transformation is carried out on the time domain model of the shaft current to obtain a statorThe transfer function of the shaft can be expressed as:。
the statorThe PI controller of the shaft is based on the statorTransfer function configuration of shaft, said statorThe PI controller of the shaft can be expressed as:wherein, the method comprises the steps of, wherein,，，is a preset statorThe negative feedback of the shaft controls the control bandwidth of the system.
According to the statorPI controller of shaft and statorTransfer function of shaft, statorThe transfer function of the negative feedback control system of the shaft can be expressed as:。
second step, obtaining the statorOutput of PI controller of shaft, obtain voltage value。
Above-mentionedUtilizes feedback information of output quantity (i.e) And differential feedback information of output (i.e) The method can improve the estimation accuracy of the aperiodic disturbance to a certain extent and accelerate the observation speed of the aperiodic linear disturbance.
In some embodiments provided herein, the model parameters of the aperiodic disturbance observer described in step E may be determined by:
Step F, configuring a state equation of an observation deviation of the aperiodic disturbance observer according to the expanded target state equation and the mathematical model of the aperiodic disturbance observer, wherein the state equation of the observation deviation can be expressed as:
wherein,，representation ofIs used as a first derivative of (a),，representing a 2 nd order unit array.
And G, configuring model parameters of the aperiodic disturbance observer according to the preset rule, wherein the preset rule is as follows: matrix arrayRoot-mean-square of characteristic polynomials of (2)And is negative.
Wherein, when determining model parameters of the aperiodic disturbance observer of the stator straight axis, the parameters areThe method comprises the steps of carrying out a first treatment on the surface of the In determining model parameters of the aperiodic disturbance observer of the stator quadrature axis, parameters。
In the case that the non-periodic disturbance term linearly changes with time and the change rate of the non-periodic disturbance term is smaller than the preset change rate threshold value, the matrix is formed byThe model parameters of the aperiodic disturbance observer are configured in a mode that the root of the characteristic polynomial of the system is negative, so that the pole of the observer system is located on the left half plane of the S plane, and the stability of the observer system is ensured, namely, the aperiodic disturbance estimated value observed by the aperiodic disturbance observer approaches to the aperiodic disturbance actual value. That is, by means of the aperiodic disturbance observer provided by the embodiment of the application, stable, reliable and quick estimation of aperiodic disturbance can be achieved, and model parameters are easy to set.
The periodic disturbance observation of the stator straight axis and the stator quadrature axis will be described in order.
In some embodiments provided herein, the periodic disturbance observer of the stator straight axis may be expressed as:
wherein,representation ofIs used as a first derivative of (a),representing an estimate of the current of the stator's straight axis,，is a voltage value determined based on the stator straight axis target current value,a non-periodic disturbance value representing the stator straight axis,representing an estimate of the periodic disturbance of the stator's straight axis,the actual value of the current representing the stator's straight axis,representation ofIs used as a first derivative of (a),represents the cut-off frequency of the stator's straight axis,represents the cut-off frequency coefficient of the stator straight axis,represents the center frequency of the stator's straight axis, which is used to characterize the harmonic frequencies to be filtered out,andfor the periodic disturbance observer gain of the stator straight axis determined according to the bandwidth method,representing periodic disturbance estimates of stator quadrature axes.
In some embodiments provided herein, the periodic disturbance observer of the stator quadrature axis may be expressed as:
wherein,representation ofIs used as a first derivative of (a),a current estimate representing the stator quadrature axis,，is a voltage value determined based on the stator quadrature axis target current value, A non-periodic disturbance value representing the stator quadrature axis,representing the actual value of the current of the stator quadrature axis,representation ofIs used as a first derivative of (a),represents the cut-off frequency of the stator quadrature axis,represents the cut-off frequency coefficient of the stator quadrature axis,representing the center frequency of the stator quadrature axis,andperiodic disturbance observer gain for stator quadrature axis determined according to bandwidth method.
In the periodic disturbance observer of the stator straight axis, parameters are as followsThe method comprises the steps of carrying out a first treatment on the surface of the In the periodic disturbance observer of the stator quadrature axis, parameters. According to preset statorShaft target current valueDetermining a voltage valueThe process of (1) may include:
first step, stator of permanent magnet synchronous motor based on the structure shown in figure 2Control logic diagram of negative feedback control system of shaft, and configuration statorA negative feedback control system for a shaft, the system comprising: statorPI controller and stator of shaftTransfer function of the shaft.
The statorThe configuration process of the transfer function of the shaft may include: will be、Andstator brought into the original target state equationEquation of state of shaft to obtain statorA time domain model of shaft current can be expressed as:the method comprises the steps of carrying out a first treatment on the surface of the For the statorLaplacian transformation is carried out on the time domain model of the shaft current to obtain a stator The transfer function of the shaft can be expressed as:。
the statorThe PI controller of the shaft is based on the statorTransfer function configuration of shaft, said statorThe PI controller of the shaft can be expressed as：Wherein, the method comprises the steps of, wherein,，，is a preset statorThe negative feedback of the shaft controls the control bandwidth of the system. In determining the voltage valueSum voltage valueWhen the control bandwidths are different, different control bandwidths can be set respectively.
According to the statorPI controller of shaft and statorTransfer function of shaft, statorThe transfer function of the negative feedback control system of the shaft can be expressed as:。
second step, obtaining the statorOutput of PI controller of shaft, obtain voltage value。
According to the periodic disturbance observer, the observed value and the actual value of the stator current are directly utilized, the observation delay of the observer can be reduced to a certain extent, the orthogonal information of the periodic disturbance of the orthogonal axis of the stator is also utilized, and the observation speed and the observation precision of the periodic disturbance are improved.
In some embodiments provided herein, the controller model may be configured by the following steps, including:
step H, discretizing the original target state equation to obtain a discretized representation of the target state equation, wherein the discretized representation of the target state equation can be represented as:
Wherein,representation ofThe stator straight axis current value at the moment,representation ofThe stator straight axis current value at the moment,representation ofThe stator direct axis voltage value at the moment,representation ofThe aperiodic disturbance value of the stator straight axis at the moment,representation ofPeriodic disturbance value of stator straight axis at moment,representation ofThe stator quadrature axis current value at the moment,representation ofThe stator quadrature axis current value at the moment,representation ofThe stator quadrature axis voltage value at the moment,representation ofThe aperiodic disturbance value of the stator quadrature axis at the moment,representation ofPeriodic disturbance values of stator quadrature axes at the moment,representing the sampling period.
Step I, configuring the controller model according to the discretized representation of the target state equation, wherein the controller model can be expressed as:
wherein,represents the stator straight axis target current value,representing the stator quadrature axis target current value,for the current moment of time,a non-periodic disturbance value representing the stator straight axis,a periodic disturbance value representing the stator straight axis,a non-periodic disturbance value representing the stator quadrature axis,a periodic disturbance value representing the stator quadrature axis,as the voltage value of the stator straight shaft,is the voltage value of the stator quadrature axis.
Based on the above, the preset sampling period, the target current values of the stator straight axis and the stator quadrature axis, the observed aperiodic disturbance values and periodic disturbance values of the stator straight axis and the stator quadrature axis are substituted into the controller model, so that the control quantity to be applied under the current situation, namely the voltage value of the stator straight axis and the voltage value of the stator quadrature axis, can be determined. The controller model adopts the dead beat prediction control idea, the stator straight axis current value after one sampling period is set to be the preset stator straight axis target current value, and the stator intersecting axis current value after one sampling period is set to be the stator intersecting axis target current value.
In addition, in the process of realizing the control task of the permanent magnet synchronous motor, a traditional PI controller is not used, and the requirements on the setting experience of the controller parameters are low; compared with the existing model predictive control algorithm, the controller model provided by the scheme of the application has less parameter dependence on a controlled object (namely the permanent magnet synchronous motor).
The permanent magnet synchronous motor control device provided in the embodiment of the present application is described below, and the permanent magnet synchronous motor control device described below and the permanent magnet synchronous motor control method described above may be referred to correspondingly.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a permanent magnet synchronous motor control device according to an embodiment of the present application. As shown in fig. 3, the apparatus may include:
an aperiodic disturbance value determining unit 31, configured to observe and obtain an aperiodic disturbance value of the stator straight axis by using a preconfigured aperiodic disturbance observer of the stator straight axis; observing and obtaining an aperiodic disturbance value of the stator quadrature by using an aperiodic disturbance observer of the preconfigured stator quadrature; the mathematical model of the aperiodic disturbance observer is configured according to the expanded target state equation and does not contain periodic disturbance items; the expanded target state equation is obtained by expanding an original target state equation, and the expansion adopts an expansion mode taking an aperiodic disturbance term as an expansion state variable; the original target state equation is processed by an ideal state equation of the stator orthogonal axis current of the permanent magnet synchronous motor; the state transition matrix and the control input matrix of the original target state equation are main diagonal matrixes determined by parameter values, the original target state equation comprises a disturbance matrix formed by disturbance items of a stator straight axis and disturbance items of a stator intersecting axis, the disturbance items comprise non-periodic disturbance items and periodic disturbance items, the non-periodic disturbance items linearly change along with time, and the change rate of the non-periodic disturbance items is smaller than a preset change rate threshold; the model parameters of the aperiodic disturbance observer are determined according to preset rules, and the preset rules are as follows: the aperiodic disturbance estimated value obtained by the observation of the aperiodic disturbance observer converges to the aperiodic disturbance actual value;
A periodic disturbance value determining unit 32, configured to observe and obtain a periodic disturbance value of the stator straight axis by using a preconfigured periodic disturbance observer of the stator straight axis on the basis of the non-periodic disturbance value of the stator straight axis; based on the aperiodic disturbance value of the stator quadrature axis, a periodic disturbance observer of the preconfigured stator quadrature axis is utilized to observe and obtain the periodic disturbance value of the stator quadrature axis; wherein the periodic disturbance observer is configured according to the original target state equation and a complex coefficient filter CCF, and comprises a non-periodic disturbance term;
a control amount determining unit 33, configured to invoke a controller model configured by the original target state equation, and calculate a control amount corresponding to a preset control target, where the preset control target includes: in the next sampling period, the stator straight axis current value reaches a preset stator straight axis target current value, and the stator quadrature axis current value reaches a preset stator quadrature axis target current value; the control amount includes: the voltage value of the stator straight axis and the voltage value of the stator quadrature axis;
and a motor control unit 34 for controlling the permanent magnet synchronous motor according to the control amount.
Other descriptions of the permanent magnet synchronous motor control device may be referred to above.
The permanent magnet synchronous motor control device provided by the embodiment of the application can be applied to permanent magnet synchronous motor control equipment, such as a terminal with data processing capability. Alternatively, fig. 4 shows a block diagram of a hardware structure of the permanent magnet synchronous motor control device, and referring to fig. 4, the hardware structure of the permanent magnet synchronous motor control device may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;
in the embodiment of the application, the number of the processor 1, the communication interface 2, the memory 3 and the communication bus 4 is at least one, and the processor 1, the communication interface 2 and the memory 3 complete communication with each other through the communication bus 4;
processor 1 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention, etc.;
the memory 3 may comprise a high-speed RAM memory, and may further comprise a non-volatile memory (non-volatile memory) or the like, such as at least one magnetic disk memory;
Wherein the memory stores a program, the processor is operable to invoke the program stored in the memory, the program operable to:
observing and obtaining an aperiodic disturbance value of the stator straight shaft by using a preconfigured aperiodic disturbance observer of the stator straight shaft; observing and obtaining an aperiodic disturbance value of the stator quadrature by using an aperiodic disturbance observer of the preconfigured stator quadrature; the mathematical model of the aperiodic disturbance observer is configured according to the expanded target state equation and does not contain periodic disturbance items; the expanded target state equation is obtained by expanding an original target state equation, and the expansion adopts an expansion mode taking an aperiodic disturbance term as an expansion state variable; the original target state equation is processed by an ideal state equation of the stator orthogonal axis current of the permanent magnet synchronous motor; the state transition matrix and the control input matrix of the original target state equation are main diagonal matrixes determined by parameter values, the original target state equation comprises a disturbance matrix formed by disturbance items of a stator straight axis and disturbance items of a stator intersecting axis, the disturbance items comprise non-periodic disturbance items and periodic disturbance items, the non-periodic disturbance items linearly change along with time, and the change rate of the non-periodic disturbance items is smaller than a preset change rate threshold; the model parameters of the aperiodic disturbance observer are determined according to preset rules, and the preset rules are as follows: the aperiodic disturbance estimated value obtained by the observation of the aperiodic disturbance observer converges to the aperiodic disturbance actual value;
Based on the aperiodic disturbance value of the stator straight shaft, a periodic disturbance observer of the preconfigured stator straight shaft is utilized to observe and obtain the periodic disturbance value of the stator straight shaft; based on the aperiodic disturbance value of the stator quadrature axis, a periodic disturbance observer of the preconfigured stator quadrature axis is utilized to observe and obtain the periodic disturbance value of the stator quadrature axis; wherein the periodic disturbance observer is configured according to the original target state equation and a complex coefficient filter CCF, and comprises a non-periodic disturbance term;
invoking a controller model configured by the original target state equation, and calculating a control quantity corresponding to a preset control target, wherein the preset control target comprises: in the next sampling period, the stator straight axis current value reaches a preset stator straight axis target current value, and the stator quadrature axis current value reaches a preset stator quadrature axis target current value; the control amount includes: the voltage value of the stator straight axis and the voltage value of the stator quadrature axis;
and controlling the permanent magnet synchronous motor according to the control quantity.
Alternatively, the refinement function and the extension function of the program may be described with reference to the above.
The embodiment of the application also provides a storage medium, which may store a program adapted to be executed by a processor, the program being configured to:
Observing and obtaining an aperiodic disturbance value of the stator straight shaft by using a preconfigured aperiodic disturbance observer of the stator straight shaft; observing and obtaining an aperiodic disturbance value of the stator quadrature by using an aperiodic disturbance observer of the preconfigured stator quadrature; the mathematical model of the aperiodic disturbance observer is configured according to the expanded target state equation and does not contain periodic disturbance items; the expanded target state equation is obtained by expanding an original target state equation, and the expansion adopts an expansion mode taking an aperiodic disturbance term as an expansion state variable; the original target state equation is processed by an ideal state equation of the stator orthogonal axis current of the permanent magnet synchronous motor; the state transition matrix and the control input matrix of the original target state equation are main diagonal matrixes determined by parameter values, the original target state equation comprises a disturbance matrix formed by disturbance items of a stator straight axis and disturbance items of a stator intersecting axis, the disturbance items comprise non-periodic disturbance items and periodic disturbance items, the non-periodic disturbance items linearly change along with time, and the change rate of the non-periodic disturbance items is smaller than a preset change rate threshold; the model parameters of the aperiodic disturbance observer are determined according to preset rules, and the preset rules are as follows: the aperiodic disturbance estimated value obtained by the observation of the aperiodic disturbance observer converges to the aperiodic disturbance actual value;
Based on the aperiodic disturbance value of the stator straight shaft, a periodic disturbance observer of the preconfigured stator straight shaft is utilized to observe and obtain the periodic disturbance value of the stator straight shaft; based on the aperiodic disturbance value of the stator quadrature axis, a periodic disturbance observer of the preconfigured stator quadrature axis is utilized to observe and obtain the periodic disturbance value of the stator quadrature axis; wherein the periodic disturbance observer is configured according to the original target state equation and a complex coefficient filter CCF, and comprises a non-periodic disturbance term;
invoking a controller model configured by the original target state equation, and calculating a control quantity corresponding to a preset control target, wherein the preset control target comprises: in the next sampling period, the stator straight axis current value reaches a preset stator straight axis target current value, and the stator quadrature axis current value reaches a preset stator quadrature axis target current value; the control amount includes: the voltage value of the stator straight axis and the voltage value of the stator quadrature axis;
and controlling the permanent magnet synchronous motor according to the control quantity.
Alternatively, the refinement function and the extension function of the program may be described with reference to the above.
Fig. 5 is a schematic structural view of a permanent magnet synchronous motor control system according to an embodiment of the present application, wherein, Indicating the current timeThe stator straight axis current value at the position,represents the stator quadrature current value at the present moment,represents a stator straight axis target current value,represents the stator quadrature axis target current value,an aperiodic disturbance value representing the stator straight axis,an aperiodic disturbance value representing the stator quadrature axis,representing the periodic disturbance value of the stator's straight axis,a periodic disturbance value representing the stator quadrature axis,the voltage value representing the stator straight axis,representing the voltage value of the stator quadrature axis. As shown in connection with fig. 5, the system may include: the system comprises a first disturbance observer, a second disturbance observer, a current prediction controller and the permanent magnet synchronous motor connected with the current prediction controller;
the first disturbance observer includes: a pre-configured stator straight axis aperiodic disturbance observer, and a pre-configured stator quadrature axis aperiodic disturbance observer; the mathematical model of the aperiodic disturbance observer is configured according to the expanded target state equation and does not contain periodic disturbance items; the expanded target state equation is obtained by expanding an original target state equation, and the expansion adopts an expansion mode taking an aperiodic disturbance term as an expansion state variable; the original target state equation is processed by an ideal state equation of the stator orthogonal axis current of the permanent magnet synchronous motor; the state transition matrix and the control input matrix of the original target state equation are main diagonal matrixes determined by parameter values, the original target state equation comprises a disturbance matrix formed by disturbance items of a stator straight axis and disturbance items of a stator intersecting axis, the disturbance items comprise non-periodic disturbance items and periodic disturbance items, the non-periodic disturbance items linearly change along with time, and the change rate of the non-periodic disturbance items is smaller than a preset change rate threshold; the model parameters of the aperiodic disturbance observer are determined according to preset rules, and the preset rules are as follows: the aperiodic disturbance estimated value obtained by the observation of the aperiodic disturbance observer converges to the aperiodic disturbance actual value;
The aperiodic disturbance observer of the stator straight shaft is used for observing an aperiodic disturbance value of the stator straight shaft of the permanent magnet synchronous motor;
the aperiodic disturbance observer of the stator cross shaft is used for observing an aperiodic disturbance value of the stator cross shaft of the permanent magnet synchronous motor;
the second disturbance observer includes: a preconfigured periodic disturbance observer of a stator straight shaft and a preconfigured periodic disturbance observer of a stator quadrature shaft; wherein the periodic disturbance observer is configured according to the original target state equation and a complex coefficient filter CCF, and comprises a non-periodic disturbance term;
the periodic disturbance observer of the stator straight shaft is connected with the output end of the aperiodic disturbance observer of the stator straight shaft, and the periodic disturbance observer of the stator straight shaft is used for: based on the aperiodic disturbance value of the stator straight shaft, observing the periodic disturbance value of the stator straight shaft of the permanent magnet synchronous motor;
the periodic disturbance observer of the stator quadrature is connected with the output end of the aperiodic disturbance observer of the stator quadrature, and the periodic disturbance observer of the stator quadrature is used for: based on the aperiodic disturbance value of the stator quadrature axis, observing the periodic disturbance value of the stator quadrature axis of the permanent magnet synchronous motor;
The current prediction controller is connected with the output end of the non-periodic disturbance observer of the stator straight shaft, the output end of the non-periodic disturbance observer of the stator intersecting shaft, the output end of the periodic disturbance observer of the stator straight shaft and the output end of the periodic disturbance observer of the stator intersecting shaft, and is used for calling a controller model configured by the original target state equation, calculating a control quantity corresponding to a preset control target, and controlling the permanent magnet synchronous motor according to the control quantity; the preset control targets include: in the next sampling period, the stator straight axis current value reaches a preset stator straight axis target current value, and the stator quadrature axis current value reaches a preset stator quadrature axis target current value; the control amount includes: the voltage value of the stator straight axis and the voltage value of the stator intersecting axis.
Additional description of the permanent magnet synchronous motor control system may be found in the foregoing description.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and may be combined according to needs, and the same similar parts may be referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (5)

1. A method of controlling a permanent magnet synchronous motor, comprising:
observing and obtaining an aperiodic disturbance value of the stator straight shaft by using a preconfigured aperiodic disturbance observer of the stator straight shaft; observing and obtaining an aperiodic disturbance value of the stator quadrature by using an aperiodic disturbance observer of the preconfigured stator quadrature; the mathematical model of the aperiodic disturbance observer is configured according to the expanded target state equation and does not contain periodic disturbance items; the expanded target state equation is obtained by expanding an original target state equation, and the expansion adopts an expansion mode taking an aperiodic disturbance term as an expansion state variable; the original target state equation is processed by an ideal state equation of the stator orthogonal axis current of the permanent magnet synchronous motor; the state transition matrix and the control input matrix of the original target state equation are main diagonal matrixes determined by parameter values, the original target state equation comprises a disturbance matrix formed by disturbance items of a stator straight axis and disturbance items of a stator intersecting axis, the disturbance items comprise non-periodic disturbance items and periodic disturbance items, the non-periodic disturbance items linearly change along with time, and the change rate of the non-periodic disturbance items is smaller than a preset change rate threshold; the model parameters of the aperiodic disturbance observer are determined according to preset rules, and the preset rules are as follows: the aperiodic disturbance estimated value obtained by the observation of the aperiodic disturbance observer converges to the aperiodic disturbance actual value;
Based on the aperiodic disturbance value of the stator straight shaft, a periodic disturbance observer of the preconfigured stator straight shaft is utilized to observe and obtain the periodic disturbance value of the stator straight shaft; based on the aperiodic disturbance value of the stator quadrature axis, a periodic disturbance observer of the preconfigured stator quadrature axis is utilized to observe and obtain the periodic disturbance value of the stator quadrature axis; wherein the periodic disturbance observer is configured according to the original target state equation and a complex coefficient filter CCF, and comprises a non-periodic disturbance term;
invoking a controller model configured by the original target state equation, and calculating a control quantity corresponding to a preset control target, wherein the preset control target comprises: in the next sampling period, the stator straight axis current value reaches a preset stator straight axis target current value, and the stator quadrature axis current value reaches a preset stator quadrature axis target current value; the control amount includes: the voltage value of the stator straight axis and the voltage value of the stator quadrature axis;
controlling the permanent magnet synchronous motor according to the control quantity;
wherein the ideal state equation is:
；
wherein the parameters areRepresenting the actual value of the current of the stator's straight axis, parameter +. >Representing state variables +.>First derivative of (2), parameter>Representing the actual value of the stator quadrature current, parameter +.>Representing state variables +.>First derivative of (2), parameter>Representing stator resistance, parameter->Represents the stator direct axis inductance, parameter->Represents the angular velocity of the rotor magnetic chain, parameter +.>Representing stator quadrature axis inductance, parameter->Represents the stator direct axis voltage, parameter +.>Representing stator quadrature voltage, parameter->Representing rotor permanent magnet flux linkage;
the original target state equation is obtained through the following steps:
decoupling the ideal state equation to obtain a first intermediate state equation, wherein a disturbance matrix of the first intermediate state equation comprises a coupling term of a stator straight axis and a stator quadrature axis, and the first intermediate state equation is as follows:
；
wherein,a state transition matrix representing said first intermediate state equation,>a control input matrix representing said first intermediate state equation,>a perturbation matrix representing the first intermediate state equation;
processing the first intermediate state equation according to a preset processing rule to obtain a second intermediate state equation; the processing rule is as follows: for each element in the state transition matrix of the first intermediate state equation and the control input matrix of the first intermediate state equation, representing the element as a sum of a fixed amount and a time variable, the fixed amount being determined by a nominal value of a motor parameter of the permanent magnet synchronous motor; respectively configuring a state transition matrix of the second intermediate state equation and a control input matrix of the second intermediate state equation according to each fixed quantity; configuring a disturbance matrix of the second intermediate state equation according to the disturbance matrix of the first intermediate state equation and each term containing the time variable;
The second intermediate state equation is:
；
wherein the parameters areRepresents the nominal resistance value of the stator, parameter +.>Nominal inductance value representing stator straight axis, parameter +.>Nominal inductance value representing stator quadrature axis, parameter +.>Non-periodic disturbance term representing stator straight axis, parameter +.>A non-periodic disturbance term representing stator quadrature axis;
and adding a periodic disturbance term caused by periodic harmonic disturbance on the basis of the second intermediate state equation to obtain the original target state equation, wherein the original target state equation is as follows:
；
wherein the parameters arePeriodic disturbance term representing stator straight axis, parameter +.>A periodic disturbance term representing stator quadrature axis;
wherein, the target state equation after expansion is:
；
wherein,，/>，/>，/>，/>is a constant less than the rate of change threshold, < >>，/>Representing state variables +.>Is the first derivative of (a); in said expanded target state equation of the stator straight axis, the parameter +.>The method comprises the steps of carrying out a first treatment on the surface of the In the target state equation after expansion of the stator quadrature axis, the parameter +.>；
The mathematical model of the aperiodic disturbance observer is as follows:
；
wherein,，/>，/>based on a predetermined stator->Voltage value determined by the shaft target current value, +.>，/>，/>、/>、/>And->For the model parameters of the aperiodic disturbance observer,/i >Representation->First derivative of>Representation->First derivative of>Representation->Is the first derivative of (a); in the aperiodic disturbance observer of the stator straight axis, the parameter +.>The method comprises the steps of carrying out a first treatment on the surface of the In the aperiodic disturbance observer of the stator quadrature axis, the parameter +.>；
Wherein, the model parameters of the aperiodic disturbance observer are determined by the following steps:
according to the expanded target state equation and the mathematical model of the aperiodic disturbance observer, configuring a state equation of an observation deviation of the aperiodic disturbance observer, wherein the state equation of the observation deviation is as follows:
；
wherein,，/>representation->First derivative of>，/>Representing a 2 nd order unit array;
configuring model parameters of the aperiodic disturbance observer according to the preset rule, wherein the preset rule is as follows: matrix arrayThe root of the characteristic polynomials of (2) is negative;
wherein, when determining model parameters of the aperiodic disturbance observer of the stator straight axis, the parameters areThe method comprises the steps of carrying out a first treatment on the surface of the In determining model parameters of the aperiodic disturbance observer of the stator quadrature axis, the parameters +.>；
Wherein, the periodic disturbance observer of the stator straight shaft is:
；
wherein,representation->First derivative of>Representing an estimate of the current of the stator's straight axis, ，/>Is a voltage value determined based on the stator straight axis target current value,an aperiodic disturbance value representing the stator straight axis,>a periodic disturbance estimate representing the stator straight axis, < >>Representing the actual value of the current of the stator's straight axis, +.>Representation->First derivative of>Represents the cut-off frequency of the stator straight axis, +.>A cut-off frequency coefficient representing the stator straight axis, < >>Representing the center frequency of the stator's straight axis, said center frequency being used to characterize the harmonic frequencies to be filtered out,/->And->For the periodic disturbance observer gain of the stator straight axis determined according to the bandwidth method, +.>A periodic disturbance estimation value representing stator quadrature axis;
the periodic disturbance observer of the stator quadrature axis is as follows:
；
wherein,representation->First derivative of>Representing a statorThe current estimate of the quadrature axis,，/>is a voltage value determined based on the stator quadrature axis target current value,/>Non-periodic disturbance value representing the stator quadrature axis +.>Representing the actual value of the currents of the stator quadrature axis, +.>Representation->First derivative of>Represents the cut-off frequency of the stator quadrature axis, +.>Cut-off frequency coefficient representing stator quadrature axis, +.>Represents the center frequency of the stator quadrature axis, +.>And->A periodic disturbance observer gain for the stator quadrature axis determined according to a bandwidth method;
Wherein the controller model is configured by:
discretizing the original target state equation to obtain a discretized representation of the target state equation:
；
wherein,representation->Stator straight axis current value at moment, +.>Representation->The stator straight axis current value at the moment,representation->Stator direct axis voltage value at time, +.>Representation->The aperiodic disturbance value of the stator straight axis at the moment,representation->Periodic disturbance value of stator straight axis at moment, < ->Representation->Stator quadrature axis current value at time, +.>Representation->Stator quadrature axis current value at time, +.>Representation->Stator quadrature axis voltage value at time, +.>Representation->Non-periodic disturbance value of stator quadrature axis at moment,/->Representation->Periodic disturbance values of stator quadrature axes at the moment,representing the sampling period;
configuring the controller model according to the discretized representation of the target state equation, wherein the controller model is as follows:
；
wherein,representing the statorSub-straight axis target current value, < ->Representing the stator quadrature axis target current value, < >>For the current moment +.>Representation->Non-periodic disturbance value of stator straight axis observed at moment, < >>Representation->Periodic disturbance value of stator straight axis observed at moment,/- >Representation->Non-periodic disturbance value of stator quadrature axis observed at moment, < >>Representation->And (5) observing periodic disturbance values of stator quadrature axes at the moment.
2. A permanent magnet synchronous motor control system, comprising: the system comprises a first disturbance observer, a second disturbance observer, a current prediction controller and the permanent magnet synchronous motor connected with the current prediction controller;
the first disturbance observer includes: a pre-configured stator straight axis aperiodic disturbance observer, and a pre-configured stator quadrature axis aperiodic disturbance observer; the mathematical model of the aperiodic disturbance observer is configured according to the expanded target state equation and does not contain periodic disturbance items; the expanded target state equation is obtained by expanding an original target state equation, and the expansion adopts an expansion mode taking an aperiodic disturbance term as an expansion state variable; the original target state equation is processed by an ideal state equation of the stator orthogonal axis current of the permanent magnet synchronous motor; the state transition matrix and the control input matrix of the original target state equation are main diagonal matrixes determined by parameter values, the original target state equation comprises a disturbance matrix formed by disturbance items of a stator straight axis and disturbance items of a stator intersecting axis, the disturbance items comprise non-periodic disturbance items and periodic disturbance items, the non-periodic disturbance items linearly change along with time, and the change rate of the non-periodic disturbance items is smaller than a preset change rate threshold; the model parameters of the aperiodic disturbance observer are determined according to preset rules, and the preset rules are as follows: the aperiodic disturbance estimated value obtained by the observation of the aperiodic disturbance observer converges to the aperiodic disturbance actual value;
The aperiodic disturbance observer of the stator straight shaft is used for observing an aperiodic disturbance value of the stator straight shaft of the permanent magnet synchronous motor;
the aperiodic disturbance observer of the stator cross shaft is used for observing an aperiodic disturbance value of the stator cross shaft of the permanent magnet synchronous motor;
the second disturbance observer includes: a preconfigured periodic disturbance observer of a stator straight shaft and a preconfigured periodic disturbance observer of a stator quadrature shaft; wherein the periodic disturbance observer is configured according to the original target state equation and a complex coefficient filter CCF, and comprises a non-periodic disturbance term;
the periodic disturbance observer of the stator straight shaft is connected with the output end of the aperiodic disturbance observer of the stator straight shaft, and the periodic disturbance observer of the stator straight shaft is used for: based on the aperiodic disturbance value of the stator straight shaft, observing the periodic disturbance value of the stator straight shaft of the permanent magnet synchronous motor;
the periodic disturbance observer of the stator quadrature is connected with the output end of the aperiodic disturbance observer of the stator quadrature, and the periodic disturbance observer of the stator quadrature is used for: based on the aperiodic disturbance value of the stator quadrature axis, observing the periodic disturbance value of the stator quadrature axis of the permanent magnet synchronous motor;
The current prediction controller is connected with the output end of the non-periodic disturbance observer of the stator straight shaft, the output end of the non-periodic disturbance observer of the stator intersecting shaft, the output end of the periodic disturbance observer of the stator straight shaft and the output end of the periodic disturbance observer of the stator intersecting shaft, and is used for calling a controller model configured by the original target state equation, calculating a control quantity corresponding to a preset control target, and controlling the permanent magnet synchronous motor according to the control quantity; the preset control targets include: in the next sampling period, the stator straight axis current value reaches a preset stator straight axis target current value, and the stator quadrature axis current value reaches a preset stator quadrature axis target current value; the control amount includes: the voltage value of the stator straight axis and the voltage value of the stator quadrature axis;
wherein the ideal state equation is:
；
wherein the parameters areRepresenting the actual value of the current of the stator's straight axis, parameter +.>Representing state variables +.>First derivative of (2), parameter>Representing the actual value of the stator quadrature current, parameter +.>Representing state variables +.>First derivative of (2), parameter>Representing stator resistance, parameter->Represents the stator direct axis inductance, parameter- >Represents the angular velocity of the rotor magnetic chain, parameter +.>Representing stator quadrature axis inductance, parameter->Represents the stator direct axis voltage, parameter +.>Representing stator quadrature voltage, parameter->Representing rotor permanent magnet flux linkage;
the original target state equation is obtained through the following steps:
decoupling the ideal state equation to obtain a first intermediate state equation, wherein a disturbance matrix of the first intermediate state equation comprises a coupling term of a stator straight axis and a stator quadrature axis, and the first intermediate state equation is as follows:
；
wherein,a state transition matrix representing said first intermediate state equation,>a control input matrix representing said first intermediate state equation,>a perturbation matrix representing the first intermediate state equation;
processing the first intermediate state equation according to a preset processing rule to obtain a second intermediate state equation; the processing rule is as follows: for each element in the state transition matrix of the first intermediate state equation and the control input matrix of the first intermediate state equation, representing the element as a sum of a fixed amount and a time variable, the fixed amount being determined by a nominal value of a motor parameter of the permanent magnet synchronous motor; respectively configuring a state transition matrix of the second intermediate state equation and a control input matrix of the second intermediate state equation according to each fixed quantity; configuring a disturbance matrix of the second intermediate state equation according to the disturbance matrix of the first intermediate state equation and each term containing the time variable;
The second intermediate state equation is:
；
wherein the parameters areRepresents the nominal resistance value of the stator, parameter +.>Nominal inductance value representing stator straight axis, parameter +.>Nominal inductance value representing stator quadrature axis, parameter +.>Non-periodic disturbance term representing stator straight axis, parameter +.>A non-periodic disturbance term representing stator quadrature axis;
and adding a periodic disturbance term caused by periodic harmonic disturbance on the basis of the second intermediate state equation to obtain the original target state equation, wherein the original target state equation is as follows:
；
wherein the parameters arePeriodic disturbance term representing stator straight axis, parameter +.>A periodic disturbance term representing stator quadrature axis;
wherein, the target state equation after expansion is:
；
wherein,，/>，/>，/>，/>is a constant less than the rate of change threshold, < >>，/>Representing state variables +.>Is the first derivative of (a); in said expanded target state equation of the stator straight axis, the parameter +.>The method comprises the steps of carrying out a first treatment on the surface of the In the target state equation after expansion of the stator quadrature axis, the parameter +.>；
The mathematical model of the aperiodic disturbance observer is as follows:
；
wherein,，/>，/>based on a predetermined stator->Voltage value determined by the shaft target current value, +.>，/>，/>、/>、/>And->For the model parameters of the aperiodic disturbance observer,/i >Representation->First derivative of>Representation->First derivative of>Representation->Is the first derivative of (a); in the aperiodic disturbance observer of the stator straight axis, the parameter +.>The method comprises the steps of carrying out a first treatment on the surface of the In the aperiodic disturbance observer of the stator quadrature axis, the parameter +.>；
Wherein, the model parameters of the aperiodic disturbance observer are determined by the following steps:
according to the expanded target state equation and the mathematical model of the aperiodic disturbance observer, configuring a state equation of an observation deviation of the aperiodic disturbance observer, wherein the state equation of the observation deviation is as follows:
；
wherein,，/>representation->First derivative of>，/>Representing a 2 nd order unit array;
configuring model parameters of the aperiodic disturbance observer according to the preset rule, wherein the preset rule is as follows: matrix arrayThe root of the characteristic polynomials of (2) is negative;
wherein, when determining model parameters of the aperiodic disturbance observer of the stator straight axis, the parameters are referred toNumber of digitsThe method comprises the steps of carrying out a first treatment on the surface of the In determining model parameters of the aperiodic disturbance observer of the stator quadrature axis, the parameters +.>；
Wherein, the periodic disturbance observer of the stator straight shaft is:
；
wherein,representation->First derivative of>Representing an estimate of the current of the stator's straight axis, ，/>Is a voltage value determined based on the stator straight axis target current value,an aperiodic disturbance value representing the stator straight axis,>a periodic disturbance estimate representing the stator straight axis, < >>Representing the actual value of the current of the stator's straight axis, +.>Representation->First derivative of>Represents the cut-off frequency of the stator straight axis, +.>A cut-off frequency coefficient representing the stator straight axis, < >>Representing the center frequency of the stator's straight axis, said center frequency being used to characterize the harmonic frequencies to be filtered out,/->And->For the periodic disturbance observer gain of the stator straight axis determined according to the bandwidth method, +.>A periodic disturbance estimation value representing stator quadrature axis;
the periodic disturbance observer of the stator quadrature axis is as follows:
；
wherein,representation->First derivative of>A current estimate representing the stator quadrature axis,，/>is a voltage value determined based on the stator quadrature axis target current value,/>Non-periodic disturbance value representing the stator quadrature axis +.>Representing the actual value of the currents of the stator quadrature axis, +.>Representation->First derivative of>Represents the cut-off frequency of the stator quadrature axis, +.>Cut-off frequency coefficient representing stator quadrature axis, +.>Represents the center frequency of the stator quadrature axis, +.>And->A periodic disturbance observer gain for the stator quadrature axis determined according to a bandwidth method;
Wherein the controller model is configured by:
discretizing the original target state equation to obtain a discretized representation of the target state equation:
；
wherein,representation->Stator straight axis current value at moment, +.>Representation->The stator straight axis current value at the moment,representation->Stator direct axis voltage value at time, +.>Representation->The aperiodic disturbance value of the stator straight axis at the moment,representation->Periodic disturbance value of stator straight axis at moment, < ->Representation->Stator quadrature axis current value at time, +.>Representation->Stator quadrature axis current value at time, +.>Representation->Stator quadrature axis voltage value at time, +.>Representation->Non-periodic disturbance value of stator quadrature axis at moment,/->Representation->Periodic disturbance values of stator quadrature axes at the moment,representing the sampling period;
configuring the controller model according to the discretized representation of the target state equation, wherein the controller model is as follows:
；
wherein,representing the stator straight axis target current value, < >>Representing the stator quadrature axis target current value, < >>For the current moment +.>Representation->Non-periodic disturbance value of stator straight axis observed at moment, < >>Representation->Periodic disturbance value of stator straight axis observed at moment,/- >Representation->Non-periodic disturbance value of stator quadrature axis observed at moment, < >>Representation->And (5) observing periodic disturbance values of stator quadrature axes at the moment.
3. A permanent magnet synchronous motor control device for implementing the permanent magnet synchronous motor control method according to claim 1, characterized by comprising:
the aperiodic disturbance value determining unit is used for observing and obtaining an aperiodic disturbance value of the stator straight shaft by using a preconfigured aperiodic disturbance observer of the stator straight shaft; observing and obtaining an aperiodic disturbance value of the stator quadrature by using an aperiodic disturbance observer of the preconfigured stator quadrature; the mathematical model of the aperiodic disturbance observer is configured according to the expanded target state equation and does not contain periodic disturbance items; the expanded target state equation is obtained by expanding an original target state equation, and the expansion adopts an expansion mode taking an aperiodic disturbance term as an expansion state variable; the original target state equation is processed by an ideal state equation of the stator orthogonal axis current of the permanent magnet synchronous motor; the state transition matrix and the control input matrix of the original target state equation are main diagonal matrixes determined by parameter values, the original target state equation comprises a disturbance matrix formed by disturbance items of a stator straight axis and disturbance items of a stator intersecting axis, the disturbance items comprise non-periodic disturbance items and periodic disturbance items, the non-periodic disturbance items linearly change along with time, and the change rate of the non-periodic disturbance items is smaller than a preset change rate threshold; the model parameters of the aperiodic disturbance observer are determined according to preset rules, and the preset rules are as follows: the aperiodic disturbance estimated value obtained by the observation of the aperiodic disturbance observer converges to the aperiodic disturbance actual value;
The periodic disturbance value determining unit is used for observing and obtaining the periodic disturbance value of the stator straight shaft by using a pre-configured periodic disturbance observer of the stator straight shaft on the basis of the non-periodic disturbance value of the stator straight shaft; based on the aperiodic disturbance value of the stator quadrature axis, a periodic disturbance observer of the preconfigured stator quadrature axis is utilized to observe and obtain the periodic disturbance value of the stator quadrature axis; wherein the periodic disturbance observer is configured according to the original target state equation and a complex coefficient filter CCF, and comprises a non-periodic disturbance term;
the control quantity determining unit is used for calling a controller model configured by the original target state equation and calculating a control quantity corresponding to a preset control target, wherein the preset control target comprises: in the next sampling period, the stator straight axis current value reaches a preset stator straight axis target current value, and the stator quadrature axis current value reaches a preset stator quadrature axis target current value; the control amount includes: the voltage value of the stator straight axis and the voltage value of the stator quadrature axis;
and the motor control unit is used for controlling the permanent magnet synchronous motor according to the control quantity.
4. A permanent magnet synchronous motor control apparatus, characterized by comprising: a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute the program to implement the steps of the permanent magnet synchronous motor control method according to claim 1.
5. A storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the permanent magnet synchronous motor control method of claim 1.
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CN112865646A (en) * 2021-01-25 2021-05-28 北京理工大学 Dead-beat prediction control method for single current sensor of permanent magnet synchronous motor
CN116633226A (en) * 2023-06-25 2023-08-22 华北水利水电大学 Permanent magnet synchronous motor anti-disturbance control method based on novel extended state observer

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010024195A1 (en) * 2008-08-26 2010-03-04 株式会社明電舎 Electric motor disturbance suppression device and disturbance suppression method
CN112713834A (en) * 2020-12-17 2021-04-27 华中科技大学 Permanent magnet synchronous motor position sensorless control method and system
CN112865646A (en) * 2021-01-25 2021-05-28 北京理工大学 Dead-beat prediction control method for single current sensor of permanent magnet synchronous motor
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